CN115626200A - Real-time positioning method and system for railway locomotive - Google Patents
Real-time positioning method and system for railway locomotive Download PDFInfo
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- CN115626200A CN115626200A CN202211546399.4A CN202211546399A CN115626200A CN 115626200 A CN115626200 A CN 115626200A CN 202211546399 A CN202211546399 A CN 202211546399A CN 115626200 A CN115626200 A CN 115626200A
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 136
- 238000000034 method Methods 0.000 title claims abstract description 29
- 241001669679 Eleotris Species 0.000 claims abstract description 27
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 claims description 9
- 239000004567 concrete Substances 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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Abstract
The invention discloses a real-time positioning method and a real-time positioning system for a railway locomotive, which are specifically characterized in that: the method comprises the following steps that position data read by locomotive-mounted ground transponder reading equipment in a ground transponder arranged in a tunnel portal or a subway environment are determined as initial positions; the locomotive vehicle-mounted data processing unit combines data of a locomotive vehicle-mounted speed sensor to process distance data of the bottom of the locomotive, the ground surface and the sleeper surface, which are acquired by a locomotive vehicle-mounted high-frequency laser radar or ultrasonic radar range finder arranged at the bottom of the locomotive and facing the ground, from an initial position to a position where the locomotive is located, so that the number of sleepers which the locomotive passes through from the initial position to the position where the locomotive is located can be obtained, and the distance of the locomotive running relative to the initial position is calculated in real time according to a distance standard for laying the sleepers; the invention mainly solves the problem that the locomotive cannot be accurately positioned when running on a station track in the environments of tunnels, subways and the like.
Description
Technical Field
The invention belongs to the technical field of real-time positioning of railway locomotives, and particularly relates to a real-time positioning method and a real-time positioning system of a railway locomotive.
Background
The common method of operating a real-time positioning system for a railroad locomotive uses satellite positioning or ground transponders. However, in environments such as tunnels or subways, satellite positioning fails, and a ground transponder is usually installed on a station track, and the data of the ground transponder is read by locomotive-mounted equipment to determine the position of a locomotive. The method needs to arrange a large number of ground transponders, has high construction and maintenance cost, and the positioning precision depends on the number and the spacing of the arranged ground transponders.
Therefore, in general, only the ground transponders are arranged at the track turnout or the throat, the transponders at the positions are read by locomotive-mounted equipment, the initial position of the locomotive entering the railway section is determined, and in the subsequent locomotive running positioning, the position is confirmed after calculation according to the running speed and time of the locomotive, and the method has the defect that the longer the reading time of the last ground transponder is, the larger the positioning error is; meanwhile, the influence of the running speed of the locomotive is also received, the more the speed is not uniform, the larger the positioning error of the locomotive is. In another method, relative displacement is calculated based on the diameter and the revolution of the wheels of the locomotive so as to calculate the relative position, the method is influenced by factors such as idle sliding of the wheels and the like, and the positioning error is relatively large. The problem that the locomotive cannot be positioned by satellite assistance in tunnel and subway environments and the positioning error of the positioning mode are large, the operation safety of the locomotive is seriously influenced, and meanwhile, the problem of high construction and maintenance cost also exists.
Disclosure of Invention
The invention provides a real-time positioning method and a real-time positioning system for a railway locomotive according to the laying characteristics of sleepers, aiming at the problem of real-time positioning of the locomotive running in a tunnel or subway environment. The invention aims to provide a method and a system for positioning a railway locomotive in real time, which are relatively low in cost and reliable, aiming at the problems of the existing locomotive positioning system. The invention relates to a supplementary positioning system of locomotive operation satellite positioning and other systems. The method mainly solves the problem that the locomotive cannot be positioned by satellite assistance in tunnel and subway environments, and provides real-time position data of the locomotive for a safety early warning system of the railway locomotive.
In order to achieve the above object, the present invention provides a method for real-time positioning of a railroad locomotive, comprising:
s1, acquiring an initial position, wherein position data read by a locomotive-mounted ground transponder reading device to a ground transponder is the initial position;
s2, at the same time of determining the initial position, starting to acquire distance data of the bottom of the locomotive, the ground surface and the sleeper surface by using a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter;
s3, the locomotive-mounted data processing unit receives distance data collected by a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter, combines locomotive speed data obtained by a locomotive-mounted speed sensor to obtain that the distance data from an initial position to the bottom of a locomotive at the position where the locomotive is located, the ground surface and the surface of a sleeper form a regular concave-convex waveform diagram on a time axis coordinate, obtains the number of sleepers between the locomotive from the initial position to the position where the locomotive is located after processing, and calculates the running distance of the locomotive relative to the initial position in real time according to a distance standard laid by the sleepers by the following formula, wherein the formula is as follows:
equation 1:
wherein f is the relative distance of the locomotive from the initial position; n is the number of sleepers between the initial position of the locomotive and the position of the locomotive; x is the total number of sleepers from the initial position to the tunnel terminal point, y is the total kilometers from the initial position to the tunnel terminal point, and during railway construction, the data is contained in the cross-working data;
equation 2:
in the formula, a is the width between the center lines of two sleepers, namely the distance between the sleepers; the value of a is a fixed value relative to the railway sections of the same geological environment and the same construction standard, and clear requirements are provided in the national sleeper standard;
the two calculation methods have consistent calculation results and can mutually verify.
A railroad locomotive real-time location system, the system using a railroad locomotive real-time location method, the system comprising: the system comprises a ground transponder, locomotive-mounted ground transponder reading equipment, a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter, a locomotive-mounted speed sensor and a locomotive-mounted data processing unit;
the ground transponder is arranged in a tunnel portal or a subway environment and used for providing position data of the position of the ground transponder;
wherein the locomotive-mounted ground transponder reading device is mounted on the locomotive for reading position data in the ground transponder;
the locomotive-mounted speed sensor is arranged on a locomotive and used for acquiring real-time speed data of the locomotive;
the locomotive-mounted high-frequency laser radar or ultrasonic radar range finder is arranged at the bottom of the locomotive and faces the ground and is used for collecting distance data between the bottom of the locomotive and the ground surface and the surface of a sleeper;
the locomotive vehicle-mounted data processing unit is arranged on a locomotive, the receiver is used for receiving distance data of the bottom of the locomotive, the ground surface and the surface of a sleeper, which are acquired by a locomotive vehicle-mounted high-frequency laser radar or an ultrasonic radar distance meter, combining data of a locomotive vehicle-mounted speed sensor to form a distance oscillogram of the bottom of the locomotive, the ground surface and the surface of the sleeper, acquiring the number of sleepers between the position of the locomotive and an initial position after processing, and outputting a locomotive positioning result relative to the initial position.
The invention has the advantages that: the positioning accuracy of the railway locomotive in the environments such as tunnels, subways and the like is improved; the equipment is independent, and the cost is low; the error is relatively small, and the basic locomotive operation safety early warning judgment requirement is met.
Drawings
FIG. 1 is a schematic flow chart illustrating steps of a method for real-time positioning of a railroad locomotive according to an embodiment of the present invention
FIG. 2 is a schematic structural diagram of a real-time positioning system for a railroad locomotive according to an embodiment of the present invention
FIG. 3 is a schematic diagram of the relationship between the tie and the ground of the railroad locomotive real-time positioning method and system according to the embodiment of the present invention
FIG. 4 is a schematic diagram of the variation of the waveform of the distance between the bottom of the locomotive and the surface of the ground and the surface of the sleeper in the method and system for real-time positioning of a railway locomotive according to the embodiment of the present invention
In the figure, 1, a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter, 2, a locomotive-mounted data processing unit, 3, a ground transponder, 4, a locomotive-mounted ground transponder reading device, 5, a locomotive-mounted speed sensor, 6 and a sleeper;
f is the relative distance between the locomotive and the initial position, n is the number of sleepers from the initial position to the position of the locomotive, x is the total number of sleepers from the initial position to the end point of the tunnel, y is the total kilometers from the initial position to the end point of the tunnel, a is the width between the center lines of the two sleepers, namely the distance between the sleepers, and the value of a is a fixed value relative to the railway section of the same geological environment and the same construction standard, and has definite requirements in the national sleeper standard.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the invention, it is to be noted that the term sleeper: sleepers are also called sleepers and are one type of railway fittings. The prior sleepers comprise sleepers made of wood, reinforced concrete sleepers, steel sleepers, concrete sleepers, special concrete sleepers and the like.
The embodiment of the invention relates to a real-time positioning method and a real-time positioning system for a railway locomotive, which are specified by TB10082-2017 railway track design specifications (standard specifications), the standard for paving ballast track concrete sleepers on a front line is 1667/km, and the distance between the sleepers is 600 mm.
The following describes a method and a system for real-time positioning of a railway locomotive in the invention in detail: as shown in fig. 1, the method for real-time positioning of a railroad locomotive of the present invention comprises the following specific steps:
s1, acquiring an initial position, wherein position data read by a locomotive-mounted ground transponder reading device to a ground transponder is the initial position;
in the present embodiment, in conjunction with fig. 2, when the locomotive travels to point a, the locomotive-mounted ground transponder reading device 4 reads the position data of the ground transponder 3 of the tunnel portal, and determines the position data at that time as the locomotive initial position.
S2, at the same moment of determining the initial position, starting to acquire distance data of the bottom of the locomotive, the ground surface and the surface of the sleeper by using a vehicle-mounted high-frequency laser radar or ultrasonic radar distance meter;
in this embodiment, and with reference to FIG. 2, a locomotive-mounted high frequency lidar or ultrasonic radar range finder 1 mounted on the bottom of the locomotive facing the ground at the same time that the initial position is determined begins to collect distance data of the bottom of the locomotive from the ground and the tie surfaces.
S3, the locomotive-mounted data processing unit receives distance data collected by a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter, combines locomotive speed data obtained by a locomotive-mounted speed sensor to obtain that the distance data from an initial position to the bottom of a locomotive at the position where the locomotive is located, the ground surface and the surface of a sleeper form a regular concave-convex waveform diagram on a time axis coordinate, obtains the number of sleepers between the locomotive from the initial position to the position where the locomotive is located after processing, and calculates the running distance of the locomotive relative to the initial position in real time according to a distance standard laid by the sleepers by the following formula, wherein the formula is as follows:
equation 1:
wherein f is the relative distance of the locomotive from the initial position; n is the number of sleepers between the initial position of the locomotive and the position of the locomotive; x is the total number of sleepers from the initial position to the tunnel terminal point, y is the total kilometers from the initial position to the tunnel terminal point, and data are contained in the cross-working data during railway construction;
equation 2:
in the formula, a is the width between the center lines of two sleepers, namely the distance between the sleepers; the value of a is a fixed value relative to the railway sections of the same geological environment and the same construction standard, and clear requirements are provided in the national sleeper standard;
the two calculation methods have consistent calculation results and can mutually verify.
In this embodiment, with reference to fig. 2, 3 and 4, the locomotive-mounted data processing unit 2 receives distance data collected by the locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter 1, and with reference to locomotive speed data obtained by the locomotive-mounted speed sensor 5, obtains that distance data from an initial position to a position where a locomotive is located, from the bottom of the locomotive, the ground surface and the surface of a sleeper form a regular concave-convex waveform diagram on a time axis coordinate, and obtains the number of sleepers between the position where the locomotive runs from the initial position to the position where the locomotive is located after processing;
further, since the sleepers 6 are uniformly laid on the ground, the upper surfaces of the sleepers 6 are flat and can be higher than a part of the ground surface, as shown in fig. 3, the distance data acquired by the vehicle-mounted high-frequency laser radar or ultrasonic radar distance meter 1 passing through the upper surface of one sleeper when the locomotive moves Cheng Zhongji forms a flat waveform on a time axis coordinate, the vertical axis represents the distance, the horizontal axis represents the time, the concave surface is the surface of the sleeper, the convex surface is the ground surface, and as the locomotive runs, a regular concave-convex waveform diagram is formed from the initial position to the position of the locomotive, as shown in fig. 4;
further, referring to fig. 1, assuming that the total length of the tunnel from the point a to the point B is 5 kilometers, after the data processing unit 2 on the locomotive processes the data, it is determined that the locomotive passes through 6220 sleepers, the standard for laying the sleepers in the known embodiment is 1667/km, and it is determined that there are 8335 sleepers in total from the point a to the point B, and the method of formula 1 mentioned in the present invention can be used to calculate the relative distance f = (6220/8335) × 5=3.73 kilometers from the point a at the tunnel entrance, so that the locomotive runs to the tunnel 3.73 kilometers (from the point a); in the known embodiment, the distance between the sleepers is 600mm, namely, the distance between the center lines of each sleeper is 0.6m, namely, a =0.6m, the relative distance f =6220 × 0.6=3.73 km of the case locomotive from the point A of the tunnel portal can be calculated by using the method of the formula 2 mentioned in the invention, so that the locomotive runs to the tunnel 3.72 km (from the point A).
The two calculation methods have consistent calculation results and can be mutually verified.
As shown in fig. 2, a block diagram of a real-time positioning system for a railroad locomotive: the method comprises the following steps: the system comprises a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter 1, a locomotive-mounted data processing unit 2, a ground responder 3, a locomotive-mounted ground responder reading device 4 and a locomotive-mounted speed sensor 5;
the locomotive-mounted high-frequency laser radar or ultrasonic radar range finder 1 is mounted at the bottom of a locomotive, faces the ground and is used for collecting distance data between the bottom of the locomotive and the ground surface and the surface of a sleeper;
the locomotive vehicle-mounted data processing unit 2 is arranged on a locomotive, a receiver vehicle-mounted high-frequency laser radar or ultrasonic radar distance meter 1 acquires distance data of the bottom of the locomotive, the ground surface and the surface of a sleeper, combines the data of a locomotive vehicle-mounted speed sensor 5 to form a distance oscillogram of the bottom of the locomotive, the ground surface and the surface of the sleeper, acquires the number of sleepers between the position of the locomotive and an initial position after processing, and outputs a locomotive positioning result relative to the initial position;
the ground transponder 3 is installed in a tunnel portal or a subway environment, and is used for providing position data of the position of the ground transponder 3;
wherein the locomotive-mounted ground transponder reading device 4 is mounted on the locomotive for reading position data in the ground transponder 3;
the locomotive-mounted speed sensor 5 is mounted on the locomotive and used for acquiring real-time speed data of the locomotive.
Claims (2)
1. A method for real-time positioning of a railroad locomotive, the method comprising:
s1, acquiring an initial position, wherein position data read by a locomotive-mounted ground transponder reading device to a ground transponder is the initial position;
s2, at the same moment of determining the initial position, starting to acquire distance data of the bottom of the locomotive, the ground surface and the surface of the sleeper by using a vehicle-mounted high-frequency laser radar or ultrasonic radar distance meter;
s3, the locomotive-mounted data processing unit receives distance data collected by a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter, combines locomotive speed data obtained by a locomotive-mounted speed sensor to obtain that the distance data from an initial position to the bottom of a locomotive at the position where the locomotive is located, the ground surface and the surface of a sleeper form a regular concave-convex waveform diagram on a time axis coordinate, obtains the number of sleepers between the locomotive from the initial position to the position where the locomotive is located after processing, and calculates the running distance of the locomotive relative to the initial position in real time according to a distance standard laid by the sleepers by the following formula, wherein the formula is as follows:
equation 1:
wherein f is the relative distance of the locomotive from the initial position; n is the number of sleepers between the initial position of the locomotive and the position of the locomotive; x is the total number of sleepers from the initial position to the tunnel terminal point, y is the total kilometers from the initial position to the tunnel terminal point, and during railway construction, the data is contained in the cross-working data;
equation 2:
in the formula, a is the width between the center lines of two sleepers, namely the distance between the sleepers; the value of a is a fixed value relative to the railway sections of the same geological environment and the same construction standard, and clear requirements are provided in the national sleeper standard;
the two calculation methods have consistent calculation results and can mutually verify.
2. A railroad locomotive real-time location system, the system using the method of claim 1, the system comprising: the system comprises a ground transponder, locomotive-mounted ground transponder reading equipment, a locomotive-mounted high-frequency laser radar or ultrasonic radar distance meter, a locomotive-mounted speed sensor and a locomotive-mounted data processing unit;
the ground transponder is installed in a tunnel portal or a subway environment and used for providing position data of the position of the ground transponder;
wherein the locomotive-mounted ground transponder reading device is mounted on the locomotive for reading position data in the ground transponder;
the locomotive-mounted high-frequency laser radar or ultrasonic radar range finder is arranged at the bottom of the locomotive and faces the ground and is used for collecting distance data between the bottom of the locomotive and the ground surface and the surface of a sleeper;
the locomotive-mounted speed sensor is arranged on a locomotive and used for acquiring real-time speed data of the locomotive;
the locomotive vehicle-mounted data processing unit is arranged on a locomotive, the receiver is used for receiving distance data of the bottom of the locomotive, the ground surface and the surface of a sleeper, which are acquired by a locomotive vehicle-mounted high-frequency laser radar or an ultrasonic radar distance meter, combining data of a locomotive vehicle-mounted speed sensor to form a distance oscillogram of the bottom of the locomotive, the ground surface and the surface of the sleeper, acquiring the number of sleepers between the position of the locomotive and an initial position after processing, and outputting a locomotive positioning result relative to the initial position.
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| CN202211546399.4A CN115626200A (en) | 2022-12-05 | 2022-12-05 | Real-time positioning method and system for railway locomotive |
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| CN202211546399.4A CN115626200A (en) | 2022-12-05 | 2022-12-05 | Real-time positioning method and system for railway locomotive |
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| CN109910955A (en) * | 2019-03-19 | 2019-06-21 | 南京理工大学 | Rail tunnel obstacle detection system and method based on transponder information transmission |
| CN112082570A (en) * | 2020-09-21 | 2020-12-15 | 西南交通大学 | Infrared ranging type train odometer and train mileage calculation method |
| CN112304331A (en) * | 2020-10-22 | 2021-02-02 | 西南交通大学 | Ultrasonic-based train odometer and mileage calculation method |
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- 2022-12-05 CN CN202211546399.4A patent/CN115626200A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905134A (en) * | 2016-06-07 | 2016-08-31 | 深圳航天科技创新研究院 | Rail transit vehicle accurate speed measuring system and method |
| WO2017211068A1 (en) * | 2016-06-07 | 2017-12-14 | 深圳航天科技创新研究院 | Accurate speed-measuring system and method for rail transit vehicle |
| CN109515471A (en) * | 2018-12-13 | 2019-03-26 | 四川拓绘科技有限公司 | A kind of Non-contact type sleeper recognition methods under moving condition |
| CN109910955A (en) * | 2019-03-19 | 2019-06-21 | 南京理工大学 | Rail tunnel obstacle detection system and method based on transponder information transmission |
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Application publication date: 20230120 |